Data multi-core processing system and method for DDS in AUTOSAR CP

Abstract

The invention relates to the technical field of automotive electronics, and discloses a data multi-core processing system and method for a DDS in an AUTOSAR CP, and the system comprises a PDuR module which is used for receiving data, and registering a data receiving task to a Core1; the DDS-RT layer is used for processing the data transmitted by the PDuR module, obtaining the processed data and registering a task for processing the data to a Core2; the DDS-I layer is used for deserializing the processed data to obtain deserialized data, registering a task of the deserialized data to a Core2, and storing the deserialized data to an RHC; and the ASW layer is used for reading the deserialized data from the RHC and registering a task of reading the data to the Core3. Through introducing module function blocks and multi-core hard real-time parallel processing into the DDS of the AUTOSAR CP platform, the interactive data processing throughput rate of the DDS to the upper layer application is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of automotive electronic technology, and in particular to a data multi-core processing system and method for DDS in AUTOSAR CP. Background Art

[0002] The AUTomotive Open System Architecture (AUTOSAR) Classic Platform (CP) is an open software architecture for automotive electronic systems. The Data Distribution Service (DDS) is a middleware standard for real-time data communication, which has been introduced into the AUTOSAR CP standard in recent years. AUTOSAR CP sometimes runs on a multi-core microcontroller unit (MCU) platform. It is a common processing method to directly package the entire DDS middleware and run it on a single core. However, this method does not take advantage of the multi-core MCU platform, and the DDS interactive data processing throughput index is relatively low. Therefore, how to effectively improve the interactive data processing throughput of DDS in AUTOSAR CP has become an urgent problem to be solved.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a data multi-core processing system and method for DDS in AUTOSAR CP, aiming to solve the technical problem that the prior art cannot effectively improve the interactive data processing throughput of DDS in AUTOSAR CP.

[0005] To achieve the above object, the present invention provides a data multi-core processing system for DDS in AUTOSAR CP, the system comprising:

[0006] PduR module, used to receive data and register the task of receiving data to Core1;

[0007] The DDS-RT layer is used to process the data transmitted by the PduR module, obtain the processed data, and register the task of processing the data transmitted by the PduR module to Core2;

[0008] The DDS-I layer is used to deserialize the processed data transmitted by the DDS-RT layer, obtain the deserialized data, register the task of deserializing the processed data transmitted by the DDS-RT layer to Core2, store the deserialized data in RHC, and transmit the deserialized data to the DDS-C layer;

[0009] The ASW layer is used to read the deserialized data from the RHC through the DDS-C layer, and register the task of reading the deserialized data to Core3.

[0010] Optionally, the ASW layer is further used to write the deserialized data through the DDS-C layer, obtain the write data, and register the task of writing the deserialized data to Core 4.

[0011] Optionally, the DDS-I layer is further used to process the write data transmitted by the DDS-C layer, obtain the processed write data, store the processed write data to WHC, and register the task of processing the write data transmitted by the DDS-C layer to Core5;

[0012] The DDS-I layer is also used to serialize the processed write data, obtain the data to be sent, and register the task of serializing the processed write data to Core5.

[0013] Optionally, the DDS-RT layer is further used to send the data to be sent transmitted by the DDS-I layer to the PduR module, and register the task of sending the data to be sent transmitted by the DDS-I layer to the PduR module to Core6.

[0014] Optionally, the DDS data multi-core processing system in the AUTOSAR CP further includes:

[0015] A buffer initialization module, used for creating a data buffer to receive the data;

[0016] The buffer initialization module is further used to create a data buffer for storing the written data;

[0017] The buffer initialization module is further used to create a data buffer to store the data to be sent.

[0018] In addition, to achieve the above object, the present invention also proposes a data multi-core processing method for DDS in AUTOSAR CP, and the data multi-core processing method for DDS in AUTOSAR CP comprises the following steps:

[0019] The PduR module receives data and registers the task of receiving data to Core1;

[0020] The DDS-RT layer processes the data transmitted by the PduR module, obtains the processed data, and registers the task of processing the data transmitted by the PduR module to Core2;

[0021] The DDS-I layer deserializes the processed data transmitted by the DDS-RT layer to obtain deserialized data, registers the task of deserializing the processed data transmitted by the DDS-RT layer to Core2, stores the deserialized data in RHC, and transmits the deserialized data to the DDS-C layer;

[0022] The ASW layer reads the deserialized data from the RHC through the DDS-C layer, and registers the task of reading the deserialized data to Core3.

[0023] Optionally, after the step of the ASW layer reading the deserialized data from the RHC through the DDS-C layer and registering the task of reading the deserialized data to Core3, the step further includes:

[0024] The ASW layer writes the deserialized data through the DDS-C layer, obtains the write data, and registers the task of writing the deserialized data to Core 4.

[0025] Optionally, after the step of the ASW layer writing the deserialized data through the DDS-C layer, obtaining the write data, and registering the task of writing the deserialized data to Core 4, the step further includes:

[0026] The DDS-I layer processes the write data transmitted by the DDS-C layer, obtains the processed write data, stores the processed write data in WHC, and registers the task of processing the write data transmitted by the DDS-C layer to Core5;

[0027] The DDS-I layer serializes the processed write data, obtains the data to be sent, and registers the task of serializing the processed write data to Core5.

[0028] Optionally, after the step of serializing the processed write data, obtaining the data to be sent, and registering the task of serializing the processed write data to Core5, the step further includes:

[0029] The DDS-RT layer sends the data to be sent transmitted by the DDS-I layer to the PduR module, and registers the task of sending the data to be sent transmitted by the DDS-I layer to the PduR module to Core6.

[0030] Optionally, after the step of the PduR module receiving data and registering the task of receiving data to Core1, the step further includes:

[0031] The buffer initialization module creates a data buffer to receive the data;

[0032] After the step of the ASW layer writing the deserialized data through the DDS-C layer, obtaining the write data, and registering the task of writing the deserialized data to Core 4, the method further includes:

[0033] The buffer initialization module creates a data buffer to store the written data;

[0034] After the step of serializing the processed write data, obtaining the data to be sent, and registering the task of serializing the processed write data to Core5, the step further includes:

[0035] The buffer initialization module creates a data buffer to store the data to be sent.

[0036] In the present invention, module construction and multi-core task deployment are performed for DDS running on the existing AUTOSAR CP platform, so that the DDS construction modules can be processed in parallel, thereby improving the interactive data processing throughput of the DDS middleware, and facilitating the AUTOSAR CP upper-layer application to transmit more data and services in a unit time based on the DDS middleware.

[0037] The present invention divides the entire DDS interaction process in AUTOSAR CP into 6 module functional areas (i.e., a PduR data receiving service module functional area corresponding to Core1, a DDS-RT layer processing receiving data and a DDS-I layer deserialization storage module functional area corresponding to Core2, an ASW data reading module functional area corresponding to Core3, an ASW data writing module functional area corresponding to Core4, a DDS-I layer processing writing data corresponding to Core5, storing the written data in WHC, and serializing and encapsulating it into a module functional area for data to be sent, and a DDS-RT layer sending data module functional area corresponding to Core6), connects the newly added data buffer areas (i.e., a receiving data buffer area, a writing data buffer area, and a sending data buffer area), and distributes different functional areas as tasks to different cores of the AUTOSAR CP hardware platform for hard real-time parallel processing, thereby improving the interactive data processing throughput of DDS.

[0038] Under the AUTOSAR CP platform, after the DDS middleware introduced module function partitioning and multi-core hard real-time parallel processing, compared with the existing technology of packaging the entire DDS middleware in a single core for processing, the DDS middleware has achieved a multiple-fold increase in the interactive data processing throughput of the upper-layer applications.

[0039] In the present invention, the PduR module is used to receive data and register the task of receiving data to Core1; the DDS-RT layer is used to process the data transmitted by the PduR module, obtain the processed data, and register the task of processing the data transmitted by the PduR module to Core2; the DDS-I layer is used to deserialize the processed data transmitted by the DDS-RT layer, obtain the deserialized data, and register the task of deserializing the processed data transmitted by the DDS-RT layer to Core2, store the deserialized data to RHC, and transmit the deserialized data to the DDS-C layer; the ASW layer is used to read the deserialized data from the RHC through the DDS-C layer, and register the task of reading the deserialized data to Core3. By introducing module function partitioning and multi-core hard real-time parallel processing in the DDS middleware of the AUTOSAR CP platform, compared with the prior art of packaging the entire DDS middleware in a single core for processing, the interactive data processing throughput of the DDS middleware for upper-layer applications is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural block diagram of a first embodiment of a multi-core data processing system for DDS in AUTOSAR CP of the present invention;

[0041] Figure 2 A task allocation operation core diagram for a first embodiment of a multi-core data processing system for DDS in AUTOSAR CP of the present invention;

[0042] Figure 3 FIG. 4 is a flow chart of a first embodiment of a multi-core data processing method for DDS in AUTOSAR CP of the present invention.

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0045] Reference Figure 1 , Figure 1 FIG. 4 is a structural block diagram of a first embodiment of a multi-core data processing system for DDS in AUTOSAR CP of the present invention.

[0046] like Figure 1 As shown, the multi-core data processing system of DDS in AUTOSAR CP proposed in an embodiment of the present invention includes:

[0047] A protocol data unit router (PduR) module 10 is used to receive data and register the task of receiving data to Core 1;

[0048] The PduR module 10 is a unit in the AUTOSAR CP architecture for processing routing protocol data. As a routing module in the communication protocol stack, the PduR module 10 is responsible for data transmission and routing between different communication protocols. Figure 2 , Figure 2 The task allocation operation core diagram involved in the first embodiment of the multi-core data processing system of DDS in AUTOSAR CP of the present invention. Figure 2 In the example, the PduR module 10 receives data through the data receiving service and registers the task of receiving data to Core 1 (ie, core 1).

[0049] Cache initialization module ( Figure 1 ), used to create a data buffer area for receiving data.

[0050] DDS-RT (DDS-Real Time) layer 20, used to process the data transmitted by the PduR module, obtain the processed data, and register the task of processing the data transmitted by the PduR module to Core 2;

[0051] DDS-RT layer 20 is the adaptation layer from DDS to the bottom layer of AUTOSAR CP. Figure 2 In the example, the DDS-RT layer 20 processes the data transmitted by the PduR module 10, obtains the processed data, and registers the task of processing the data transmitted by the PduR module 10 to Core 2 (ie, core 2).

[0052] DDS-I (DDS-Interoperability) layer 30, used to deserialize the processed data transmitted by the DDS-RT layer, obtain deserialized data, register the task of deserializing the processed data transmitted by the DDS-RT layer to Core2, store the deserialized data in RHC, and transmit the deserialized data to DDS-C (DDS-C language) layer 40;

[0053] The DDS-I layer 30 is the core layer for processing the Real-time Publish-Subscribe Protocol (RTPS) inside DDS. The DDS-C layer 40 is the interface layer that DDS provides for calling upper-layer applications. Among them, the RTPS protocol is a network protocol specially designed to meet the needs of data distribution services in real-time systems. It emphasizes performance, fault tolerance, and scalability, and supports multicast and connectionless UDP / IP communications by defining message formats and usage scenarios, and is suitable for large-scale and dynamic distributed systems. In addition, the RTPS protocol allows dynamic discovery and plug-and-play connections, ensures type safety and backward compatibility, and also ensures that applications based on DDS implementations from different vendors can interoperate. The RTPS protocol supports a variety of data types, including integers, floating-point numbers, strings, and binary data.

[0054] Among them, serialization and deserialization are two interrelated processes, which together constitute the conversion and restoration of object state information. Serialization is the process of converting the state information of an object into a form that can be stored or transmitted. In this process, the object writes its current state to a temporary or persistent storage area so that the object can be recreated later by reading or deserializing the state of the object from the storage area. Serialization allows other code to view or modify object instance data that cannot be accessed without serialization. Deserialization is the process of extracting data from the serialized representation and directly setting the state of the object. This process is independent of accessibility rules and allows the state of the object to be read or deserialized from the storage area to recreate the object. In summary, serialization is the process of converting an object into a byte sequence, and deserialization is the process of restoring the byte sequence to an object. Through these two processes, the state information of the object can be accurately restored at different times and locations, realizing the needs of data persistence and network transmission.

[0055] Figure 2 In the process, the DDS-I layer 30 deserializes the processed data transmitted by the DDS-RT layer 20, obtains the deserialized data, registers the task of deserializing the processed data transmitted by the DDS-RT layer 20 to Core2, stores the deserialized data in RHC (History Cache of RTPS Reader), and transmits the deserialized data to the DDS-C (DDS-C language) layer 40. RHC is a historical data cache maintained by the RTPS Reader when communicating using the RTPS protocol in DDS, and the cache is used to store data instances that have been received and meet the receiving conditions of the RTPS Reader.

[0056] The application software (ASW) layer 50 is used to read the deserialized data from the RHC through the DDS-C layer, and register the task of reading the deserialized data to Core 3.

[0057] The ASW layer 50 is an application software layer in the AUTOSAR CP architecture. In this embodiment, the ASW layer 50 reads deserialized data from the RHC through the DDS-C layer 40 and registers the task of reading the deserialized data to Core 3 (ie, core 3).

[0058] In this embodiment, the ASW layer 50 is further used to write the deserialized data through the DDS-C layer 40, obtain the write data, and register the task of writing the deserialized data to Core 4.

[0059] Figure 2 In the example, the ASW layer 50 writes the deserialized data through the DDS-C layer 40, obtains the write data, and registers the task of writing the deserialized data to Core 4 (ie, core 4).

[0060] The cache initialization module is also used to create a data cache for storing write data.

[0061] In this embodiment, the DDS-I layer 30 is further used to process the write data transmitted by the DDS-C layer 40, obtain the processed write data, store the processed write data in the WHC, and register the task of processing the write data transmitted by the DDS-C layer 40 to Core5;

[0062] Figure 2 In the example, the DDS-I layer 30 processes the write data transmitted by the DDS-C layer 40, obtains the processed write data, and stores the processed write data in the WHC (History Cache of RTPS Writer), and registers the task of processing the write data transmitted by the DDS-C layer 40 to Core5 (i.e., Core 5). The DDS-I layer 30 serializes the processed write data, obtains the data to be sent, and registers the task of serializing the processed write data to Core5. Among them, WHC is a key component for implementing data distribution and synchronization in the RTPS protocol, which can be used to store the history of data changes on the RTPS Writer side, ensuring that the RTPS Writer can reliably transmit these changes to all matching RTPS Readers.

[0063] The buffer initialization module is also used to create a data buffer for storing data to be sent.

[0064] In this embodiment, the DDS-RT layer 20 is also used to send the data to be sent transmitted by the DDS-I layer 30 to the PduR module 10, and register the task of sending the data to be sent transmitted by the DDS-I layer 30 to the PduR module 10 to Core6.

[0065] Figure 2 In the example, the DDS-RT layer 20 sends the data to be sent transmitted by the DDS-I layer 30 to the PduR module 10, and registers the task of sending the data to be sent transmitted by the DDS-I layer 30 to the PduR module 10 to Core 6 (ie, core 6).

[0066] In specific implementation, this implementation scheme can be tailored in combination with a specific hardware platform. For example, if the hardware platform has limited resources and does not have 6 cores, the functions other than the cache initialization module (i.e., the functions of cores 1 to 6) can be adaptively merged, that is, the tasks of cores 1 to 6 can be registered to one or more cores (the number of cores can be set according to the specific configuration of the hardware platform) to meet the hardware resource conditions. When selecting merged tasks, the processing time of the tasks can be used as a reference.

[0067] In this embodiment, module construction and multi-core task deployment are performed for DDS running on the existing AUTOSAR CP platform, so that the DDS construction modules can be processed in parallel, thereby improving the interactive data processing throughput of the DDS middleware, and facilitating the AUTOSARCP upper-layer application to transmit more data and services per unit time based on the DDS middleware.

[0068] In this embodiment, the entire DDS interaction process in AUTOSAR CP is divided into 6 module functional areas (i.e., the PduR data receiving service module functional area corresponding to Core1, the DDS-RT layer processing receiving data and DDS-I layer deserialization storage module functional area corresponding to Core2, the ASW reading data module functional area corresponding to Core3, the ASW writing data module functional area corresponding to Core4, the DDS-I layer processing writing data corresponding to Core5, storing the written data in WHC, and serializing and encapsulating it into the module functional area of ​​data to be sent, and the DDS-RT layer sending data module functional area corresponding to Core6), and the new data buffer area (i.e., receiving data buffer area, writing data buffer area, and sending data buffer area) is added for connection, and different functional areas are assigned as tasks to different cores of the AUTOSAR CP hardware platform for hard real-time parallel processing, thereby improving the interactive data processing throughput of DDS.

[0069] Under the AUTOSAR CP platform, after the DDS middleware introduced module function partitioning and multi-core hard real-time parallel processing, compared with the existing technology of packaging the entire DDS middleware in a single core for processing, the DDS middleware has achieved a multiple-fold increase in the interactive data processing throughput of the upper-layer applications.

[0070] In this embodiment, the PduR module is used to receive data and register the task of receiving data to Core1; the DDS-RT layer is used to process the data transmitted by the PduR module, obtain the processed data, and register the task of processing the data transmitted by the PduR module to Core2; the DDS-I layer is used to deserialize the processed data transmitted by the DDS-RT layer, obtain the deserialized data, and register the task of deserializing the processed data transmitted by the DDS-RT layer to Core2, store the deserialized data to RHC, and transmit the deserialized data to the DDS-C layer; the ASW layer is used to read the deserialized data from the RHC through the DDS-C layer, and register the task of reading the deserialized data to Core3. By introducing module function partitioning and multi-core hard real-time parallel processing in the DDS middleware of the AUTOSAR CP platform, compared with the prior art of packaging the entire DDS middleware in a single core for processing, the interactive data processing throughput of the DDS middleware for upper-layer applications is effectively improved.

[0071] The embodiment of the present invention provides a multi-core data processing method for DDS in AUTOSAR CP, referring to Figure 3 , Figure 3 FIG. 4 is a flow chart of a first embodiment of a multi-core data processing method for DDS in AUTOSAR CP of the present invention.

[0072] In this embodiment, the multi-core data processing method of DDS in AUTOSAR CP includes the following steps:

[0073] Step S10: The PduR module receives the data and registers the task of receiving the data to Core1;

[0074] Step S20: the DDS-RT layer processes the data transmitted by the PduR module, obtains the processed data, and registers the task of processing the data transmitted by the PduR module to Core2;

[0075] Step S30: The DDS-I layer deserializes the processed data transmitted by the DDS-RT layer to obtain deserialized data, and registers the task of deserializing the processed data transmitted by the DDS-RT layer to Core2, stores the deserialized data in RHC, and transmits the deserialized data to the DDS-C layer;

[0076] Step S40: The ASW layer reads the deserialized data from the RHC through the DDS-C layer, and registers the task of reading the deserialized data to Core3.

[0077] Optionally, after the step of the ASW layer reading the deserialized data from the RHC through the DDS-C layer and registering the task of reading the deserialized data to Core3, the step further includes:

[0078] The ASW layer writes the deserialized data through the DDS-C layer, obtains the write data, and registers the task of writing the deserialized data to Core 4.

[0079] Optionally, after the step of the ASW layer writing the deserialized data through the DDS-C layer, obtaining the write data, and registering the task of writing the deserialized data to Core 4, the step further includes:

[0080] The DDS-I layer processes the write data transmitted by the DDS-C layer, obtains the processed write data, stores the processed write data in WHC, and registers the task of processing the write data transmitted by the DDS-C layer to Core5;

[0081] The DDS-I layer serializes the processed write data, obtains the data to be sent, and registers the task of serializing the processed write data to Core5.

[0082] Optionally, after the step of serializing the processed write data, obtaining the data to be sent, and registering the task of serializing the processed write data to Core5, the step further includes:

[0083] The DDS-RT layer sends the data to be sent transmitted by the DDS-I layer to the PduR module, and registers the task of sending the data to be sent transmitted by the DDS-I layer to the PduR module to Core6.

[0084] Optionally, after the step of the PduR module receiving data and registering the task of receiving data to Core1, the step further includes:

[0085] The buffer initialization module creates a data buffer to receive the data;

[0086] After the step of the ASW layer writing the deserialized data through the DDS-C layer, obtaining the write data, and registering the task of writing the deserialized data to Core 4, the method further includes:

[0087] The buffer initialization module creates a data buffer to store the written data;

[0088] After the step of serializing the processed write data, obtaining the data to be sent, and registering the task of serializing the processed write data to Core5, the step further includes:

[0089] The buffer initialization module creates a data buffer to store the data to be sent.

[0090] In this embodiment, module construction and multi-core task deployment are performed for DDS running on the existing AUTOSAR CP platform, so that the DDS construction modules can be processed in parallel, thereby improving the interactive data processing throughput of the DDS middleware, and facilitating the AUTOSARCP upper-layer application to transmit more data and services per unit time based on the DDS middleware.

[0091] In this embodiment, the entire DDS interaction process in AUTOSAR CP is divided into 6 module functional areas (i.e., the PduR data receiving service module functional area corresponding to Core1, the DDS-RT layer processing receiving data and DDS-I layer deserialization storage module functional area corresponding to Core2, the ASW reading data module functional area corresponding to Core3, the ASW writing data module functional area corresponding to Core4, the DDS-I layer processing writing data corresponding to Core5, storing the written data in WHC, and serializing and encapsulating it into the module functional area of ​​data to be sent, and the DDS-RT layer sending data module functional area corresponding to Core6), and the new data buffer area (i.e., receiving data buffer area, writing data buffer area, and sending data buffer area) is added for connection, and different functional areas are assigned as tasks to different cores of the AUTOSAR CP hardware platform for hard real-time parallel processing, thereby improving the interactive data processing throughput of DDS.

[0092] Under the AUTOSAR CP platform, after the DDS middleware introduced module function partitioning and multi-core hard real-time parallel processing, compared with the existing technology of packaging the entire DDS middleware in a single core for processing, the DDS middleware has achieved a multiple-fold increase in the interactive data processing throughput of the upper-layer applications.

[0093] In this embodiment, the PduR module receives data and registers the task of receiving data to Core1; the DDS-RT layer processes the data transmitted by the PduR module, obtains the processed data, and registers the task of processing the data transmitted by the PduR module to Core2; the DDS-I layer deserializes the processed data transmitted by the DDS-RT layer, obtains the deserialized data, and registers the task of deserializing the processed data transmitted by the DDS-RT layer to Core2, stores the deserialized data to RHC, and transmits the deserialized data to the DDS-C layer; the ASW layer reads the deserialized data from the RHC through the DDS-C layer, and registers the task of reading the deserialized data to Core3. By introducing module function partitioning and multi-core hard real-time parallel processing in the DDS middleware of the AUTOSAR CP platform, compared with the prior art of packaging the entire DDS middleware in a single core for processing, the interactive data processing throughput of the DDS middleware for upper-layer applications is effectively improved.

[0094] Other embodiments or specific implementations of the multi-core data processing method of DDS in AUTOSAR CP of the present invention can refer to the above-mentioned system embodiments, which will not be described in detail here.

[0095] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0096] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0097] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0098] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A multi-core data processing system for DDS in AUTOSAR CP, characterized in that: The DDS data multi-core processing system in the AUTOSAR CP includes: PduR module, used to receive data and register the task of receiving data to Core1; The DDS-RT layer is used to process the data transmitted by the PduR module, obtain the processed data, and register the task of processing the data transmitted by the PduR module to Core2; The DDS-I layer is used to deserialize the processed data transmitted by the DDS-RT layer, obtain the deserialized data, register the task of deserializing the processed data transmitted by the DDS-RT layer to Core2, store the deserialized data in RHC, and transmit the deserialized data to the DDS-C layer; The ASW layer is used to read the deserialized data from the RHC through the DDS-C layer, and register the task of reading the deserialized data to Core3.

2. The multi-core data processing system for DDS in AUTOSAR CP according to claim 1, characterized in that: The ASW layer is further used to write the deserialized data through the DDS-C layer, obtain the write data, and register the task of writing the deserialized data to Core 4.

3. The multi-core data processing system for DDS in AUTOSAR CP according to claim 2, characterized in that: The DDS-I layer is further used to process the write data transmitted by the DDS-C layer, obtain the processed write data, store the processed write data in WHC, and register the task of processing the write data transmitted by the DDS-C layer to Core5; The DDS-I layer is also used to serialize the processed write data, obtain the data to be sent, and register the task of serializing the processed write data to Core5.

4. The multi-core data processing system for DDS in AUTOSAR CP according to claim 3, characterized in that: The DDS-RT layer is further used to send the data to be sent transmitted by the DDS-I layer to the PduR module, and register the task of sending the data to be sent transmitted by the DDS-I layer to the PduR module to Core6.

5. The multi-core data processing system of DDS in AUTOSAR CP according to claim 3, characterized in that: The DDS data multi-core processing system in the AUTOSAR CP also includes: A buffer initialization module, used for creating a data buffer to receive the data; The buffer initialization module is further used to create a data buffer for storing the written data; The buffer initialization module is further used to create a data buffer to store the data to be sent.

6. A multi-core data processing method for DDS in AUTOSAR CP, characterized in that: The multi-core data processing method of DDS in the AUTOSAR CP comprises the following steps: The PduR module receives data and registers the task of receiving data to Core1; The DDS-RT layer processes the data transmitted by the PduR module, obtains the processed data, and registers the task of processing the data transmitted by the PduR module to Core2; The DDS-I layer deserializes the processed data transmitted by the DDS-RT layer to obtain deserialized data, registers the task of deserializing the processed data transmitted by the DDS-RT layer to Core2, stores the deserialized data in RHC, and transmits the deserialized data to the DDS-C layer; The ASW layer reads the deserialized data from the RHC through the DDS-C layer, and registers the task of reading the deserialized data to Core3.

7. The multi-core data processing method of DDS in AUTOSAR CP according to claim 6, characterized in that: After the step of the ASW layer reading the deserialized data from the RHC through the DDS-C layer and registering the task of reading the deserialized data to Core3, the method further includes: The ASW layer writes the deserialized data through the DDS-C layer, obtains the write data, and registers the task of writing the deserialized data to Core 4.

8. The multi-core data processing method of DDS in AUTOSAR CP according to claim 7, characterized in that: After the step of the ASW layer writing the deserialized data through the DDS-C layer, obtaining the write data, and registering the task of writing the deserialized data to Core 4, the method further includes: The DDS-I layer processes the write data transmitted by the DDS-C layer, obtains the processed write data, stores the processed write data in WHC, and registers the task of processing the write data transmitted by the DDS-C layer to Core5; The DDS-I layer serializes the processed write data, obtains the data to be sent, and registers the task of serializing the processed write data to Core5.

9. The multi-core data processing method of DDS in AUTOSAR CP according to claim 8, characterized in that: After the step of serializing the processed write data, obtaining the data to be sent, and registering the task of serializing the processed write data to Core5, the step further includes: The DDS-RT layer sends the data to be sent transmitted by the DDS-I layer to the PduR module, and registers the task of sending the data to be sent transmitted by the DDS-I layer to the PduR module to Core6.

10. The multi-core data processing method of DDS in AUTOSAR CP according to claim 8, characterized in that: After the step of the PduR module receiving data and registering the task of receiving data to Core1, the method further includes: The buffer initialization module creates a data buffer to receive the data; After the step of the ASW layer writing the deserialized data through the DDS-C layer, obtaining the write data, and registering the task of writing the deserialized data to Core 4, the method further includes: The buffer initialization module creates a data buffer to store the written data; After the step of serializing the processed write data, obtaining the data to be sent, and registering the task of serializing the processed write data to Core5, the step further includes: The buffer initialization module creates a data buffer to store the data to be sent.

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